From 51ace4db019934733ebf404245a3f37c31a5a8a6 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Thu, 4 Nov 2021 17:37:51 +0100
Subject: [PATCH] Update score function

---
 src/active_grasp/policy.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py
index 25c334d..0d06996 100644
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -91,7 +91,7 @@ class Policy:
         return filtered_grasps[i], qualities[i], scores[i]
 
     def score_fn(self, grasp, quality, q, q_grasp):
-        return grasp.pose.translation[2]
+        return quality
 
 
 class SingleViewPolicy(Policy):